VTK与Python实现机械臂三维模型可视化详解

#!/usr/bin/env python import vtkimport mathfrom vtk.util.colors import *filenames = ["upperarm.stl","forearm.stl"]dt = 1.0    # degree step in rotationangle = [0, 0] # shoulder and elbow joint anglerenWin = vtk.vtkRenderWindow()assembly = vtk.vtkAssembly()slider_shoulder = vtk.vtkSliderRepresentation2D()slider_elbow = vtk.vtkSliderRepresentation2D()actor = list() # the list of links# Customize vtkInteractorStyleTrackballCamera class MyInteractor(vtk.vtkInteractorStyleTrackballCamera):  def __init__(self,parent=None):    self.AddObserver("CharEvent",self.OnCharEvent)    self.AddObserver("KeyPressEvent",self.OnKeyPressEvent)  # Override the default key operations which currently handle trackball or joystick styles is provided  # OnChar is triggered when an ASCII key is pressed. Some basic key presses are handled here   def OnCharEvent(self,obj,event):    pass  def OnKeyPressEvent(self,obj,event):    global angle    # Get the compound key strokes for the event    key = self.GetInteractor().GetKeySym()    # Output the key that was pressed    #print "Pressed: " , key    # Handle an arrow key    if(key == "Left"):      actor[1].RotateY(-dt)          if(key == "Right"):      actor[1].RotateY(dt)          if(key == "Up"):      assembly.RotateY(-dt)      angle[0] += dt      if angle[0] >= 360.0:        angle[0] -= 360.0      slider_shoulder.SetValue(angle[0])      if(key == "Down"):      assembly.RotateY(dt)      angle[0] -= dt      if angle[0] < 0.0:        angle[0] += 360.0       slider_shoulder.SetValue(angle[0])    # Ask each renderer owned by this RenderWindow to render its image and synchronize this process    renWin.Render()    returndef LoadSTL(filename):  reader = vtk.vtkSTLReader()  reader.SetFileName(filename)  mapper = vtk.vtkPolyDataMapper() # maps polygonal data to graphics primitives  mapper.SetInputConnection(reader.GetOutputPort())  actor = vtk.vtkLODActor()   actor.SetMapper(mapper)  return actor  # represents an entity in a rendered scenedef CreateCoordinates():  # create coordinate axes in the render window  axes = vtk.vtkAxesActor()   axes.SetTotalLength(100, 100, 100) # Set the total length of the axes in 3 dimensions   # Set the type of the shaft to a cylinder:0, line:1, or user defined geometry.   axes.SetShaftType(0)   axes.SetCylinderRadius(0.02)   axes.GetXAxisCaptionActor2D().SetWidth(0.03)   axes.GetYAxisCaptionActor2D().SetWidth(0.03)   axes.GetZAxisCaptionActor2D().SetWidth(0.03)   #axes.SetAxisLabels(0) # Enable:1/disable:0 drawing the axis labels  #transform = vtk.vtkTransform()   #transform.Translate(0.0, 0.0, 0.0)  #axes.SetUserTransform(transform)  #axes.GetXAxisCaptionActor2D().GetCaptionTextProperty().SetColor(1,0,0)  #axes.GetXAxisCaptionActor2D().GetCaptionTextProperty().BoldOff() # disable text bolding  return axesdef ShoulderSliderCallback(obj,event):  sliderRepres = obj.GetRepresentation()  pos = sliderRepres.GetValue()   assembly.SetOrientation(0,-pos,0)  renWin.Render()def ElbowSliderCallback(obj,event):  sliderRepres = obj.GetRepresentation()  pos = sliderRepres.GetValue()   actor[1].SetOrientation(0,-pos,0)  renWin.Render()def ConfigSlider(sliderRep, TitleText, Yaxes):  sliderRep.SetMinimumValue(0.0)  sliderRep.SetMaximumValue(360.0)  sliderRep.SetValue(0.0) # Specify the current value for the widget  sliderRep.SetTitleText(TitleText) # Specify the label text for this widget  sliderRep.GetSliderProperty().SetColor(1,0,0) # Change the color of the knob that slides  sliderRep.GetSelectedProperty().SetColor(0,0,1) # Change the color of the knob when the mouse is held on it  sliderRep.GetTubeProperty().SetColor(1,1,0) # Change the color of the bar   sliderRep.GetCapProperty().SetColor(0,1,1) # Change the color of the ends of the bar  #sliderRep.GetTitleProperty().SetColor(1,0,0) # Change the color of the text displaying the value  # Position the first end point of the slider  sliderRep.GetPoint1Coordinate().SetCoordinateSystemToDisplay()  sliderRep.GetPoint1Coordinate().SetValue(50, Yaxes)   # Position the second end point of the slider  sliderRep.GetPoint2Coordinate().SetCoordinateSystemToDisplay()  sliderRep.GetPoint2Coordinate().SetValue(400, Yaxes)   sliderRep.SetSliderLength(0.02) # Specify the length of the slider shape.The slider length by default is 0.05  sliderRep.SetSliderWidth(0.02) # Set the width of the slider in the directions orthogonal to the slider axis  sliderRep.SetTubeWidth(0.005)  sliderRep.SetEndCapWidth(0.03)  sliderRep.ShowSliderLabelOn() # display the slider text label  sliderRep.SetLabelFormat("%.1f")  sliderWidget = vtk.vtkSliderWidget()  sliderWidget.SetRepresentation(sliderRep)  sliderWidget.SetAnimationModeToAnimate()  return sliderWidgetdef CreateGround():  # create plane source  plane = vtk.vtkPlaneSource()  plane.SetXResolution(50)  plane.SetYResolution(50)  plane.SetCenter(0,0,0)  plane.SetNormal(0,0,1)    # mapper  mapper = vtk.vtkPolyDataMapper()  mapper.SetInputConnection(plane.GetOutputPort())     # actor  actor = vtk.vtkActor()  actor.SetMapper(mapper)  actor.GetProperty().SetRepresentationToWireframe()  #actor.GetProperty().SetOpacity(0.4) # 1.0 is totally opaque and 0.0 is completely transparent  actor.GetProperty().SetColor(light_grey)  '''  # Load in the texture map. A texture is any unsigned char image.  bmpReader = vtk.vtkBMPReader()   bmpReader.SetFileName("ground_texture.bmp")   texture = vtk.vtkTexture()   texture.SetInputConnection(bmpReader.GetOutputPort())   texture.InterpolateOn()   actor.SetTexture(texture)  '''  transform = vtk.vtkTransform()  transform.Scale(2000,2000, 1)  actor.SetUserTransform(transform)  return actor  def CreateScene():  # Create a rendering window and renderer  ren = vtk.vtkRenderer()  #renWin = vtk.vtkRenderWindow()  renWin.AddRenderer(ren)  # Create a renderwindowinteractor  iren = vtk.vtkRenderWindowInteractor()  iren.SetRenderWindow(renWin)  style = MyInteractor()  style.SetDefaultRenderer(ren)  iren.SetInteractorStyle(style)  for id, file in enumerate(filenames):    actor.append(LoadSTL(file))    #actor[id].GetProperty().SetColor(blue)    r = vtk.vtkMath.Random(.4, 1.0)    g = vtk.vtkMath.Random(.4, 1.0)    b = vtk.vtkMath.Random(.4, 1.0)    actor[id].GetProperty().SetDiffuseColor(r, g, b)    actor[id].GetProperty().SetDiffuse(.8)    actor[id].GetProperty().SetSpecular(.5)    actor[id].GetProperty().SetSpecularColor(1.0,1.0,1.0)    actor[id].GetProperty().SetSpecularPower(30.0)    assembly.AddPart(actor[id])    # Add the actors to the scene    #ren.AddActor(actor[id])  # Also set the origin, position and orientation of assembly in space.  assembly.SetOrigin(0, 0, 0) # This is the point about which all rotations take place   #assembly.AddPosition(0, 0, 0)  #assembly.RotateX(45)  actor[1].SetOrigin(274, 0, 0) # initial elbow joint position  ren.AddActor(assembly)  # Add coordinates  axes = CreateCoordinates()  ren.AddActor(axes)  # Add ground  ground = CreateGround()  ren.AddActor(ground)  # Add slider to control the robot  sliderWidget_shoulder = ConfigSlider(slider_shoulder,"Shoulder Joint", 80)  sliderWidget_shoulder.SetInteractor(iren)  sliderWidget_shoulder.EnabledOn()  sliderWidget_shoulder.AddObserver("InteractionEvent", ShoulderSliderCallback)  sliderWidget_elbow = ConfigSlider(slider_elbow,"Elbow Joint", 160)  sliderWidget_elbow.SetInteractor(iren)  sliderWidget_elbow.EnabledOn()  sliderWidget_elbow.AddObserver("InteractionEvent", ElbowSliderCallback)  # Set background color  ren.SetBackground(.2, .2, .2)  # Set window size  renWin.SetSize(600, 600)  # Set up the camera to get a particular view of the scene  camera = vtk.vtkCamera()  camera.SetFocalPoint(300, 0, 0)  camera.SetPosition(300, -400, 350)  camera.ComputeViewPlaneNormal()  camera.SetViewUp(0, 1, 0)  camera.Zoom(0.4)  ren.SetActiveCamera(camera)  # Enable user interface interactor  iren.Initialize()  iren.Start()if __name__ == "__main__":  CreateScene()